A comparison of ship maneuverability models to approximate ship navigation trajectories

Paper in proceeding, 2021

For optimal control of unmanned surface vehicles (USVs), it is essential to understand the maneuverability of the USVs. In this study, two well-recognized maneuverability models are compared for their capability to predict the trajectories of a simulation and an experiment ship models. The parameters of these maneuverability models are estimated by a statistical learning method. The goodness of the two models for describing a simulated merchant ship’s maneuverability is firstly studied using her simulated trajectories. Finally, the capability of those modelling methods is further investigated using experimental tests of a ship model at an open lake. The experimental tests can model a bit “real” sailing conditions to a USV with wind and drift effects. Finally, some modification and improvement techniques are suggested to accurately derive her maneuverability model based on experimental data.